Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-23 13:24:03 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

config

Browse Source
This commit is contained in:
Pascal Brisset
2007-08-01 16:23:57 +00:00
parent 675a1b769c
commit 2ca0cc8819
2 changed files with 22 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/slayer2.xml
+13 -11
View File
@@ -78,11 +78,10 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="453"/>
<define name="ADC_PITCH_NEUTRAL" value="471"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ROLL_SCALE" value="1.3846"/>
<define name="ROLL_DIRECTION" value="1."/>
<define name="PITCH_SCALE" value="1.3846"/>
<define name="PITCH_DIRECTION" value="1."/>
</section>
<section name="BAT">
@@ -96,7 +95,7 @@
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/> -->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
@@ -184,7 +183,7 @@
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
@@ -205,11 +204,11 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#transp ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
#transp ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
@@ -232,7 +231,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c traffic_info.c
ap.CFLAGS += -DGYRO -DADXRS150
# -DIDG300
ap.srcs += gyro.c
ap.srcs += bomb.c
# ap.srcs += bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
@@ -243,10 +242,13 @@ ap.srcs += $(SRC_ARCH)/gpio.c
#ap.CFLAGS += -DHITL
ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.srcs += bomb.c
sim.srcs += nav_survey_rectangle.c
</makefile>
</airframe>
conf/radios/focus4.xml
+9
View File
@@ -0,0 +1,9 @@
<?xml version="1.0"?>
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Focus4" data_min="800" data_max="2200" sync_min ="5000" sync_max ="20000">
<channel ctl="RH" function="ROLL" min="2000" neutral="1560" max="1100" average="0"/>
<channel ctl="RV" function="THROTTLE" min="1140" neutral="1140" max="1900" average="0"/>
<channel ctl="B" function="PITCH" max="1120" neutral="1520" min="1940" average="0"/>
<channel ctl="A" function="MODE" min="2144" neutral="1530" max="920" average="11"/>
</radio>